Methods and systems for controlling movement of load transporting apparatuses

ABSTRACT

Systems and methods for moving at least one load transporting apparatus may include the load transporting apparatus(es) configured to move in at least one direction, at least one feedback sensing device disposed on and/or within the load transporting apparatus where the sensing device obtains movement measurements of the load transporting apparatus, a first location to receive a pre-determined input, a second location to receive the movement measurement(s), and a processing circuit to compare the movement measurement(s) to the pre-determined input. In a non-limiting embodiment, a pre-loading system may prepare the load transporting apparatus for movement prior to moving or lifting a load by depressing at least one component of the load transporting apparatus.

CROSS-REFERENCE TO RELATED APPLICATION

This application is a Continuation-in-Part and claims priority to U.S.application Ser. No. 14/830,169 filed on Aug. 19, 2015; which claimspriority to U.S. Provisional Patent Application No. 62/039,885 filedAug. 20, 2014; all of which are incorporated by reference herein in itsentirety.

TECHNICAL FIELD

The present invention relates to apparatuses for transporting a load,and more particularly relates to methods and systems for controllingmovement of heavy loads with the ability to steer the apparatus.

BACKGROUND

Moving extremely heavy loads (at least 100,000 pounds or more per foot)has generally been a complicated task because of the large forcesinvolved in lifting and transporting such heavy loads. When possible,large loads are often transported by disassembling or breaking up theload into multiple smaller loads. However, this break-down andsubsequent reassembly process can be very time consuming, especiallywhen a heavy load is only to be moved a small distance, or simply needsto be repositioned.

For heavy loads that need periodic movement or adjustment, devicescommonly referred to as “walking machines” or “walkers” were developed.These machines typically move the heavy loads in incremental stages.Walking machines are particularly useful for moving large structures,such as oil rigs, silos, and the like. The oil rigs may need to be movedin order to properly position them over spud holes and well sites in oilfields, or moved to a new location that is undergoing oil exploration.

Walking machines typically use hydraulic lift cylinders to lift the loadabove a supporting surface, and then move or rotate the load relative tothe supporting surface by transporting the load via rollers or tracks inthe walking machines. A non-limiting method of using a walking machineto move a heavy load is described and illustrated in U.S. Pat. No.5,921,336, which is herein incorporated by reference. The '525 patentshows elongated beams under several rollers and lift cylinders, whichallows the load from the lift cylinders and rollers to be spread over alarge area.

However, it would be desirable for walking machines to be able to move aheavy load in any direction of the support beams and/or fine tune theposition of the walking machine in a controlled manner. In addition, itwould also be desirable for the load transporting apparatus to rotate inthe absence of manual labor.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is an isometric view of a non-limiting embodiment of the loadtransporting apparatus;

FIG. 2 is a top view of the load carrying apparatus;

FIG. 3 is a front view of the load carrying apparatus;

FIG. 4 is a front view of another non-limiting embodiment of the loadtransporting apparatus;

FIGS. 5A-5B depict non-limiting embodiments of a saddle housing;

FIG. 6 is a non-limiting depiction of a movement housing attachable tothe underside of the upper saddle housing;

FIG. 7 is a front view of a non-limiting embodiment of a saddle housingwith the movement housing attached thereto;

FIG. 8 is an isometric view of a non-limiting embodiment of a movementhousing placed within a saddle housing;

FIG. 9 is a front view of a non-limiting embodiment of a saddle housingwhere a movement housing and pad(s) are in place between a top saddlehousing and a bottom saddle housing;

FIGS. 10A-C are isometric views of the load transporting apparatus wherea transverse cylinder and a lifter are in various states (i.e. expandedor retracted);

FIG. 11 is an enlarged view of a lifter and a piston;

FIG. 12 is a flow diagram illustrating processes used to operate awalking apparatus according to embodiments of the invention;

FIG. 13 is an illustration of a saddle housing where a track is notincluded;

FIG. 14 is a cut-away view of a rotary interlock usable within the loadtransporting apparatus;

FIG. 15 is an illustration of a stabilizer frame apparatus configuredfor engaging a load transporting apparatus;

FIG. 16 is an illustration of a load transporting apparatus configuredto move in at least one direction in a controlled manner;

FIG. 17 depicts how a circuit receives the pre-determined input and themovement measurement(s); and

FIG. 18 depicts a non-transitory computer readable medium withinstructions stored thereon, that when executed by a circuit, perform amethod.

DETAILED DESCRIPTION

As described above, walkers, or walking machines, are vehicles that areused for transporting very heavy loads, such as entire oil well drillingrigs or gas well rigs. “Rig” is defined herein to be any type ofdrilling rig for purposes of drilling for hydrocarbons, such as oiland/or gas in a non-limiting embodiment. Such loads may be sequentiallypositioned very precisely over spaced-apart well bores, for example.Embodiments of the present concept are directed to controlling orautomating movement of load transporting apparatuses, such as walkingmachines, for moving heavy loads over small distances, such as less thanan inch independently to about twenty feet or more per move, with theability to fine tune the resultant position of the heavy load. For easeof understanding, the terms, “walkers,” “walking machines,” “walkingdevices,” and “walking apparatuses” are used interchangeably below. Loadtransporting apparatuses or systems may include one or more walkingmachines. Additionally, a walking machine's subassembly of componentsthat facilitate movement of the walking machine are referred herein as a“walking mechanism.” Walking machines may incorporate one or morewalking mechanisms, depending on the specific configuration of a walkingmachine.

For example, a load transporting system may include multiple walkingmachines that support a load being carried by the load transportingsystem. Multiple walking apparatuses may be positioned under or adjacentto an oil rig. A plurality of walking machines may work in concert tosupport and walk a load. Typically, walking machines may be positionedat least near an edge portion of a load to balance the weight of theload over the various walking machines. In a non-limiting embodiment,the load may be an oil rig, a silo, and the like.

The one (1) or more load transporting apparatus (e.g. a walkingassembly) may be affixed to a structure to be moved. The loadtransporting apparatus may be located within the structure, attachableto the outside of the structure, or any other combination thereof. Astructure may include a load and any structural components to attach theload to the load transporting apparatus. All of the feet or assemblies(i.e. all of the load transporting apparatuses) may be moved in unison;alternatively at least one foot (of at least one load transportingapparatus) may be moved in unison with at least another foot. It may bebeneficial to move one foot at a time when only a portion of theavailable feet in an installation may be operated, such as during a‘leveling’ function. A leveling function occurs when a load structuremust be leveled, which may occur when the apparatus(es) are on a slopedor uneven surface. Each foot may move independently of another foot toallow the walking machine to become level or to allow the walkingmachine to move across an uneven surface.

Generally a walking machine requires a set of 4 load transportingapparatuses to move or walk a load (e.g. an oil rig or silo); smallerloads may use fewer load transporting apparatuses and larger loads mayrequire more. A load (e.g. and oil rig or silo) may be placed on top ofthe lifter of the load transporting apparatus and a transport Assembly(e.g. a saddle & rollers, saddle and pads, and the like). The TransportAssembly may move laterally over a track by using one or more actuators.The actuator(s) may be connected generally between a roller housingconnected to a track or foot. To walk a load, typically the actuator(s)(e.g. lateral actuators) may extend and retract in a desired orientationand lift and lower a load via the lifter. To change the direction whenmoving a load, a foot assembly may be connected to a lifter (e.g. a legassembly) and rotated towards an intended direction.

Although load transporting apparatuses may be moved manually, remotelycontrolling (either wirelessly or wired) the movement of a loadtransporting apparatus would decrease unnecessary steps, strokes, orother movements that would likely occur when moving the loadtransporting apparatus in a manual manner. For example, a lifter wouldbe fully extended for each step when manually moving a load transportingapparatus; whereas, a feedback sensing device could communicate with theload transporting apparatus to stop a lifter from lifting once thefeedback sensing device receives a movement measurement that issubstantially equal to a pre-determined input. Decreasing or eliminatingstrokes and/or unnecessary movements would substantially decrease anamount of time necessary to move a load.

In addition, using the systems and methods described here would alsoallow all load transporting apparatuses to simultaneously move a load.In a non-limiting example, two or more load transporting apparatuses(typically four or more) are used to move a load. However, when manuallymoving a load, all of the load transporting apparatuses cannot move atsubstantially the same time because it would be difficult for a personor group of people to lift a load and ensure the load is level when aperson or a group of people cannot see all of the load transportingapparatuses at once.

The rotation of a foot assembly may occur by manually rotating the footassembly about a vertical axis of a lifter. The rotation may be afunction of loose fitting geometry in a coupler location on the lifterthat may allow for the foot assembly to rotate freely about its axis inan unloaded state. After change in direction of the foot, a keeper (e.g.a rod, bar, pin, lock, or combinations thereof) may be generallyinserted into a receiver location on the foot and passed through a guidearea (e.g. a sleeve) affixed to the lift device to help maintaindirection. Other walking systems do not provide a means to rotate aboutthe lifter at the lifter's interface while using the keys or flangesinterfacing the lifter in conjunction with the roller assembly.

In a non-limiting embodiment, when the lifter extends, the foot assemblyor foot portion may move towards the surface (e.g. in a downwardfashion), and the load may then be elevated away from the surface (e.g.in an upward fashion). In a non-limiting embodiment, the lifter(s) maybe connected to a rotary interlock for engaging various components of afoot assembly and/or portions of lateral transport mechanisms andallowing the rotary interlock to have a controlled range of rotationabout a datum (i.e. upon the lifter). The plane of the radial rotationmay be somewhat parallel to the surface in a non-limiting instance;alternatively, the plane of radial rotation may occur at an angle to thesurface ranging from about 0 degrees independently to about +/−15degrees in any orientation somewhat perpendincularly relative to thedatum of the rotary inlock connection about the lifter and alternativelyfrom about 0 degrees independently to about 180 or 360 degrees inanother non-limiting embodiment upon the plane somewhat parallel to thebase surface of the foot and about the axis of the datum of connection.

Walking apparatuses may be positioned on a base surface below oradjacent to a load. The walking apparatuses may be attached to the load,and may be positioned above a base surface. The walking apparatuses maybe operated substantially simultaneously, or may be operated inintervals depending on the conditions of the base surface and the loadthat is to be moved. The walking apparatuses may be operated to lift theload above the base surface. The base surface is the surface underneaththe foot and/or pad saver of the load transporting apparatus. The basesurface is typically the ground, terrain, substrate, rig mat, or otherbase surface underneath the load transporting apparatus.

The walking apparatuses may be operated to move the load in a variety ofdirections depending on the desired final location of the load. Thewalking apparatuses are operated to lower the load to the base surfaceand to raise the foot portions of the walking apparatuses above the basesurface. That is, after the load is positioned on the base surface, thewalking apparatuses are further operated so that they are raised abovethe base surface. Here, the connection between the walking apparatusesand the load may be supported by the walking apparatuses when thewalking apparatuses are raised above the base surface. After the walkingapparatuses are raised above the base surface, they may be furtherrepositioned for another movement walking step, such as by moving thefoot portions of the walking apparatuses to the right so that they arein a position. That is, the base surface touching part of the walkingapparatuses (e.g., the foot and related structures) may be moved to theright while the walking apparatuses may be raised above the basesurface. After the walking apparatuses have been repositioned, they maybe lowered to the base surface. This completes a single walking cycle,and further walking cycles or steps may be performed by repeating thesteps described above.

The foot portion may be a variety of shapes, such as but not limited toa circular foot, a square foot, a rectangular foot, a foot with morethan four sides, etc. The foot portion may have additional features toallow for connection to other devices, such as but not limited tolateral propulsion travel mechanisms, surfaces, lateral travelmechanism, special attachments to help reduce the realized pounds persquare inch of the transport load in an active state to the ground,other support members in which the system operates around and above (ingeneral), and combinations thereof. The surface area of the foot portionmay range from about 4,000 square inches (in²) independently to about6750 in², or from about 500 in² independently to about 2500 in² inanother non-limiting embodiment. The foot or feet may be made of steelin a non-limiting embodiment. The foot or feet may be machined, coated,ground, welded, bolted or otherwise configured to interlock together andto connect with the track component as well. The surface area of thefoot portion may vary depending on the type (and therefore size) of theload. For example, a full rig of 600,000 lbs would require a larger footcompared to a 50,000 lb load.

The foot portion may rotate to further facilitate movement and/oralignment of the walking assembly relative to the surface. The footportion may rotate in addition to or in lieu of the lifter. The footportion may rotate from below a rotary interlock bearing aligned more orless in the relative direction of the lateral travel devices. The rotaryinterlock bearing may be positioned below the lifter(s) and above thelateral transport devices. The rotary interlock bearing may be usedwithout mechanization, yet still allow the parts of the walking assemblytherebelow to rotate relative to its' centerline about the datum. Therotary interlock may also include or work in conjunction with amechanized member, such as a geared ring, to allow another drive deviceto rotate the geared ring and thereby generate rotation of the rotaryinterlock. With the lateral travel devices connected (singularly or inconcert) to a side opposite the lifter(s), the lateral components willbe able to rotate freely about the datum towards the intendedorientation. A rotary interlock may be used in addition to or in lieu ofa slewing ring in a non-limiting embodiment.

The rotary interlock may be used with loads ranging from about 50,000lbs independently to about 1,000,000 lbs, alternatively from about85,000 lbs independently to about 400,000 lbs, or from about 150,000 lbsindependently to about 600,000 lbs in another non-limiting embodiment),dynamic flexibility, low maintenance, and longevity in mind all whilemaintaining a very small foot print (e.g. a surface area less than about150 in-sq). The diameter of the rotary interlock may range from about 15inches independently to about 36 inches, or from about 6 inchesindependently to about 14 inches. A non-limiting diameter of the rotaryinterlock ranges from about 8 inches independently to about 10 inches.

A pad saver may be used in conjunction with the foot portion, i.e.coupled to the foot portion, and may be considered a ‘shoe’ to the footportion. The pad saver may lessen the pound per square inch (PSI)transfer of a load from the foot portion by creating a largercontact-transfer area, thus helping to preserve and save the integrityof the foot portion, matting, support members, the ground or surfacebeneath the load transporting apparatus, and combinations thereof. Thepad saver may be used individually or a plurality of pad savers may becoupled to a foot portion of the load transporting apparatus.Non-limiting shapes of the pad saver are square, rectangular, circular,ovular, triangular, and the like. The surface area of a pad saver mayrange from about 5,000 in² independently to about 10,000 in², or fromabout 700 in² independently to about 3,000 in². The thickness of a padsaver may range from about 2 inches independently to about 5 inches, orfrom about 1.25 inch independently to about 2.5 inch in anothernon-limiting embodiment.

The load transporting apparatus may be used individually for limitedapplications but will more commonly be used in quantities of 2 or more.Typically four assemblies are used to walk a rig, but it is possible touse more or less depending upon the load and other devices that may beavailable.

The lifter of the walking apparatus may be attached to a connectionframe, which in turn may be connected to a structure supporting theload. In some embodiments, the connection frame may be part of thewalking apparatus and in some instances, the connection frame may beconnected to the lifter of the walking apparatus. In other embodiments,the connection frame may be separate from the walking apparatus, and mayonly be temporarily used with the walking apparatus in certainsituations. In these embodiments, for example, multiple differentconnection frames may be built or used with specific load conditions orspecifications. Types of connections used for connecting various membersor components mentioned herein may be or include, but are not limited tobolts, screws, threading, welding, pinning, bonding, captured fits, slipfits, keys, splined, grooved, wedged, or other connection mechanisms,and combinations thereof.

A portion of a lifter of a walking apparatus may be directly connectedto a support frame structured to support a load. The support frame maybe considered part of the load in some instances when the support frameis a permanent part of the load structure. For example, in instanceswhere the load is a silo, the metal frame of the silo may be consideredthe support frame of the load, while also being part of the silo, andhence part of the load. In other cases, the support frame may be anancillary structure that is only used to stabilize and support the loadduring movement of the load, such as is typically the case when the loadis an oil rig.

The lifter may interface with the load structure to lift a load. Afterthe lifting is complete, the lifter may lower the structure back to theload bearing surface(s). More than one lifter may be employed perwalking assembly depending on factors, such as but not limited to spaceconsideration, load consideration, stability concerns, and the like.Non-limiting examples of the lifter include hydraulic cylinders,electro-mechanical cylinders, pneumatic cylinders, levers, cams, gearedconfigurations, rack-and-pinion systems, systems involving a cable,pulleys, rollers and other such components, inflatable bags, expandablebladders, screw rods or columns (e.g. threaded shafts), eccentricrollers, shafts, or any other type of equipment capable of lowering,extending, and retracting a load. Although lifters are typically acylindrical shape, any shape may be used as long as the lifter cansupport and lift a load according to the disclosure herein.

The walking apparatus may also include a travel mechanism that isconnected to the track or foot and coupled to the roller assembly suchthat when the travel mechanism is activated, the roller assembly movesrelative to the roller track. The travel mechanism may include twotransverse cylinders. Here, the transverse cylinders of the travelmechanism may balance the load being moved by the movement assembly overthe track. In other embodiments, one transverse cylinder, or three ormore transverse cylinders may be used to move the movement assemblyrelative to the track. In other embodiments, the travel mechanism mayinclude different movement structures, such as pulleys, levers, winches,tracks, etc. In a non-limiting embodiment, the roller assembly mayinclude a XNT, XNTW (or similar) series roller assembly from HillmanRollers. The roller assembly reduces the forces required to laterallypropel a load about the track above the surface with a low coefficientof friction. For example, Hillman Rollers (e.g. Model 150-XNTW) maytransport a load with a coefficient of friction of about 0.05.

A lifter, such as hydraulic jack, may be connected between the movementassembly and the load-bearing frame. When the lifter is activated, themovement assembly, the roller track, and the foot may be lifted abovethe base surface or ground as a single unit. This is due in part becausethe roller assembly, which is secured to the lower end of the travelmechanism, is captured by the roller track, as discussed above.

The distance of travel by the foot may be limited by the operabletravel, or throw, of the transverse cylinders. Because the lateraltravel is limited, the tracks may only need to be long enough toaccommodate the corresponding distance traveled by the movementassembly.

The lifter may be activated (i.e., the cylinder rod of the hydraulicjack may be forced out of the lift cylinder) causing the foot to engagethe base surface. As the lifter continues to operate, theground-engaging portions of the load-bearing frame may be lifted off ofthe base surface, so that the entire weight of the load is thensupported or shared among each support foot.

A load may be supported by as many walking apparatuses that may beneeded to successfully move the load, such as from one load transportingapparatus to up to ten or more load transporting apparatuses. More thantwo walking apparatuses may be coupled to the same support foot inanother non-limiting embodiment. Orienting the left two (or more)walking machines in a first direction and orienting the right two (ormore) walking machines in a second complementary direction, may allowthe load to be moved and steered in a complimentary-steering mode.Orienting the left two (or more) walking machines in a first directionand orienting the right two (or more) walking machines in a secondorthogonal direction, may allow the load to be moved and steered in asimple-steering mode. Orienting first diagonally opposite walkingmachines in a first direction and orienting second diagonally oppositewalking machines in a second direction, may allow the load to be movedand steered in a spin-steering mode. Orienting the walking machines in adirection perpendicular to the orientation of the feet may allow theload to be moved in a vertical or perpendicular direction relative tothe orientation of the feet. Steering in this manner would allow forstrong left in direction, a strong right in direction, a u-turn, and thelike.

A walking apparatus may also include a position feedback sensor that isconfigured to detect the position of the track or other datum/referencerelative to the foot. A propulsion device, such as a motor to rotate aroller track relative to an intended direction of travel. The propulsiondevice may include a rotatable gear configured to interface with gearteeth of a bull gear or geared ring about the vertical axis of the datumbeneath, relative, or on plane with the rotary interlock, e.g. above thetrack above the track surface. In some embodiments, the propulsiondevice may include a DC motor operated on batteries, or other directcurrent power supplies, while in other embodiments the propulsion devicemay include an AC motor operated from a generator or other types ofalternating current power supplies. In other embodiments, a hydraulicmotor or other types of electro/mechanical assistance devices may beused as the propulsion device.

Other forms of power supply to the walking machine system and/orindividual load transporting apparatus(es) may include a hydraulic powersupply, an electric power supply, a pneumatic power supply, andcombinations thereof. Alternating current (AC) electrical components maybe powered with single or three phase power in a range of voltages from110 VAC to 575 VAC as standard; other ranges may also be configured towork with the power supply, if needed. Direct Current (DC) electricalcomponents may be powered with single or three phase power in a range ofvoltages from −24 VDC to +24 VDC as standard; other ranges in DC powermay be configured to work with the power supply, if needed. Hydraulicand pneumatic power supplies may be driven by electric motors, gasolineengines, diesel engines, and combinations thereof.

An operator may be able to set a specific distance of travel for themotor (e.g., such as in embodiments where the motor is a stepper motor).Alternatively, the propulsion device may include forward and backwardcycles so that an operator can fine tune a position of the track. In yetother embodiments, a position feedback sensor may be used to identify aposition of the track. Here, the operator may only have to type in anangular displacement between the track and the foot and allow the motorand/or feedback sensor to determine a correct position and move theroller track to that determined position. Such motor(s) and/or sensorsmay be present within a driven swing drive with feedback, as describedbelow. A locking mechanism may be used to lock the track in place oncethe desired orientation is reached.

A track positioned on a foot may use a cylinder propulsion system torotate it relative to the foot. Here, hydraulic or other cylinders maybe connected to attachment points on the edges of the track via cablesor other connection devices. Depending on which transverse cylinder isactivated, the track may be rotated relative to the foot. Slewing rings,and especially slewing rings with swing drives or worm geared drives,are a conventional means of achieving this type of rotation. However,due to the size constraints found in and on most walking systems, theheavy loads to be walked, and/or the dynamic changes to the center ofgravity of a load, it may not be practical or feasible to install aslewing ring into a system to handle the loads.

Instead, a rotary interlock may allow a 360 degree lateral rotation,and/or safe loading and/or unloading of the foot. Used in conjunctionwith a rotary drive device, manual or non-manually powered, the foot maybe safely rotated within the requirements of the orientation, the footmay help to disperse a load, the foot may have flexibility and dynamicflexibility beyond that of a conventional slewing ring, and the foot mayfit into a small envelope of space. The rotary interlock may safelysupport and lift up to a 600,000 pound load when the rotary interlockhas only a diameter ranging from about 14 inches independently to about30 inches, alternatively from about 10 inches independently to about 12inches. The thickness of the rotary interlock may range from about 2inches to about 5.5 inches, alternatively from about 1 inchindependently to about 3.5 inches. In a non-limiting embodiment, therotary interlock may have a diameter of about 19 inches and may be about4 inches thick.

The rotary interlock is contrasted to a conventional slewing ring here.The diameter of a slewing ring for safely supporting and lifting a 2.4million pound load would have to be greater than 72 inches, and thethickness of the slewing ring would have to be in excess of 5 inches.Thus, in a tight and confined environment (i.e. less than 3,200 squareinches), it is not practical to use a slewing ring that is appropriatelyrated for the above said loads mentioned in the example.

It has been discovered that walking assemblies may be designed to behydraulic walking assemblies, electric walking assemblies, remotecontrolled walking assemblies, pneumatic assemblies, and the like. Humanto Machine Interfaces for control, operation, and servicing can beachieved through valves, levers, push buttons, joysticks, selectorswitches, computers, PLCs, touch panel screens, wireless or tetheredremote controls, and other control and control panels devises. Systemtraining, logging, troubleshooting, servicing, and other such needs canbe achieved via computers. Non-limiting feedback mechanisms to and froma walking machine system can be in the form of encoders, proximitysensors, magnetic pick-ups, switches, potentiometers, transducers,accelerometers, inclinometers, GPS, ultrasonic, infrared, optical, andother such devices. Non-limiting signals used in communication with thewalking machine may be in milliampers, voltage, can-bus protocols,profibus protocols profinet protocols, SSI, industrial Ethernet, othersimilar methods, and combinations thereof. Remote controls and remotelyactivated, monitored, or controlled devices can use any combination ofthe above items if needed, and the signals may be transmitted via broadspectrum, fixed frequency, WIFI, Bluetooth, other conventional wirelessradio transmission protocols, and combinations thereof. A remote controlmay be wired or wireless, as long as it may communicate with the loadtransporting apparatus. Such walking assemblies may allow for bettersafety of workers around drilling rigs because such workers are nolonger having to manually rotate the rotational devices to move the loadwith the walking assembly.

Now turning to the Figures, FIG. 1 is an isometric view of anon-limiting embodiment of the load transporting apparatus 100. The loadtransporting apparatus 100 is configured to move a load (not shown) overa surface in one or more incremental steps, each including a loadedtraverse and an unloaded traverse. The load transporting apparatus 100may include a lifter 120, at least one origin stabilizer 118, a drivenswing drive 110 with feedback, a pinion drive gear 108, a saddle housing122, a bull gear 102, a transverse cylinder 104, a foot 106, a rotaryinterlock (see FIG. 3), and combinations thereof in a non-limitingembodiment.

In a non-limiting embodiment, the swing drive 110 may have an encoder(feedback) configured to be included in the swing drive or otherwiseconnectable to the swing drive for auto-walking the load transportapparatus. In other embodiments, the swing drive may have no feedback orencoder. In yet another non-limiting embodiment, the load transportingapparatus does not have a swing drive or encoder/feedback. In the latterinstance, the load transporting apparatus may move with only a hydraulicmotor. Should the load transporting apparatus be unable to auto-walk forsome reason (e.g. a mechanical/electrical defect), the load transportingapparatus may be hand driven by applying manual force to the pinion geardriven against the geared ring of the load transporting apparatus.

The load transporting apparatus 100 may have an optional pad saver 107underneath the load transporting apparatus 100 to increase or enlargethe ‘footprint’ of the load transporting apparatus 100 and positivelyimpact and/or improve the load bearing surface area. The pad saver mayallow for a larger weight displacement than would otherwise be affordedto a foot 106 in the absence of the pad saver 107. The foot 106 may reston the pad saver 107. The foot 106 and/or the pad saver 107 may allowthe load transporting apparatus 100 to support a heavier load,especially when the diameter (also known as a working area or envelopeby those skilled in the art) of the load transporting apparatus 100 issmall in a non-limiting embodiment. In a non-limiting embodiment, thefoot 106 and/or the pad saver 107 may rotate relative to the action ofthe load transporting apparatus 100.

The load transporting mechanism 100 may support a load of as much as400,000 pounds to about 600,000 pounds or more per ‘foot’ of the walkingassembly. The diameter of the foot 106 may be considered the diameter ofthe load transporting apparatus 100. The foot 106 may be divided into amulti-pieced foot for easier transport and/or a means for reducingcosts. As a non-limiting example, the foot 106 depicted in FIG. 1 hasthree pieces therein; however, the foot 106 may comprise from one footcomponent to as many components needed to support the load transportingapparatus 100. The foot 106 may be connectable to the saddle housing122.

The saddle housing 122 is discussed in more detail in FIGS. 5A through11. An optional guide 124 is shown between an upper saddle housing 130and a lower saddle housing 132. The optional guide 124 may be attachableto the track of a movement assembly 134 (See FIG. 8) in a non-limitingembodiment. The optional guide 124 may be in between two rollers or padswithin a movement assembly 134 (See FIG. 8). The lower saddle housing132 may couple the track 312 to the saddle housing 122. In anon-limiting embodiment, the track 312 is removed, so the lower saddlehousing 132 may couple the foot 106 to the saddle housing 122. See FIG.13.

At least one transverse cylinder 104 may be connectable between theupper saddle housing 130 and the lower saddle housing 132. A first side140 of the transverse cylinder may be connectable to the saddle 122. Ina non-limiting embodiment, the traversing cylinder(s) may connect thesaddle housing 122 to the track 312 and/or the foot 106. In anon-limiting embodiment, the load transporting apparatus 100 may have atleast two or more transverse cylinders 104.

In a non-limiting embodiment, the load transporting apparatus may haveat least one origin stabilizer 118; two origin stabilizers 118 aredepicted in FIG. 1. The origin stabilizer(s) may keep a motor 112, aninterconnector 320, and a driven swing drive with or without feedback110 in a relatively stable directional orientation relative to the loadstructure in order by serving as an origin of bearing in direction,controls, targeting, locating, alignments, and the like. In anon-limiting embodiment, the origin stabilizers (s) may be attachable tothe master or load-bearing frame (not shown) via a coupler 119 (See FIG.3), which may be a trunion in a non-limiting example. In a non-limitingembodiment, an origin stabilizer 118 may be connectable to a transversecylinder 104. In FIG. 1, the cross headplate 116 may be attachable toeither the origin stabilizer 118 and/or the transverse cylinder 104and/or the lifter 120. The origin stabilizer(s) is depicted as a rod inthis non-limiting embodiment; however, the origin stabilizer(s) may takeany shape possible as long as the origin stabilizer(s) serves as anorigin of bearing.

The cross headplate 116 may be connectable to the rotary interlock in anon-limiting embodiment to ensure a positive couple to the lateralpropulsion and the relationships of the drive train and the drive gear.The cross headplate 116 may serve as a stable location to mount a numberof feedback controls to be used for rotation and/or other measures.Holes may be added to the cross headplate 116 to allow for manualoverride controls, locking provisions, etc. In another non-limitingembodiment, the cross headplate may be configured to float relative tothe movement of the lifter, while maintaining a relatively stableorientation to the lift structure.

The cross headplate 116 may have at least one locking mechanism 126thereon. In a non-limiting embodiment, there are at least two lockingmechanisms 126. The locking mechanism may be configured to couple thecross headplate to the apparatus. The cross headplate 116 may have aswing drive holder 111 attachable thereto. The swing drive holder 111may support a driven swing drive with or without feedback 110, which maybe hydraulic, electric, encoded, and combinations thereof. In thenon-limiting depiction of FIG. 1, the driven swing drive with or withoutfeedback 110 may include an optional motor 112, and an optional encoder114. The bottom side of the swing drive holder 111 may have a piniondrive gear 108 attachable thereto. The pinion drive gear 108 may besuitable in geometry to match the bull gear 102. In a non-limitingembodiment, the bull gear 102 and/or the pinion drive gear 108 may besubstituted for sprockets, pulleys, wheels, and other transmissioncomponents, and combinations thereof. The bull gear (e.g. geared ring)102 may be placed about (or around) the radial axis of a rotaryinterlock, and a pinion gear may interface with the bull gear. The bullgear may be configured so that when the pinion gear is activated, thebull gear may remain in relatively the same position during operation.The force generated between the driven pinion gear may react upon thebull gear causing the bull gear to tend toward movement or rotation. Therotary interlock may rotate freely about the intended axis. Thiscombination may be similar to the resultant function of a swing drivewith a geared profile yet no swing drive is required; the configurationof the bull gear may allow for greater load handling capacity and stillafford measured control and freedom in rotation.

The pinion drive gear 108 may be activated when the driven swing drive(optionally with feedback) 110 receives a signal to activate the piniondrive gear 108. The pinion drive gear 108 may drive the bull gear 102.The bull gear 102 may have a piston rod (FIG. 3) going therethroughwhere the piston rod goes through about the center of the bull gear 102.The piston rod may extend and retract from the cylinder body by way ofhydraulic power in a non-limiting embodiment.

The bull gear 102 may rest on the upper saddle housing 130. At least onegear tooth of the bull gear 102 may be engaged with at least one lockingmechanism 126 to stop or lock the turning of the bull gear 102. Theupper saddle housing may be connected to a portion of the rotaryinterlock to allow the drive gear to be mounted thereon in a locationaround the rotary interlock. This provides for an axial datum ofrotation. The movement assembly, e.g. the saddle (see FIGS. 5A and 5B)may enable the walking assembly to travel over a track (and foot) viarollers or low friction pads, and/or rotated about an axis of the rotaryinterlock to achieve a change in direction or orientation (e.g.alignment).

The piston rod 310, the interconnector 320, and the optional retainerkeeper 330 are depicted and discussed in more detail in FIG. 3. Thepiston rod 310, the interconnector 320, and the optional retainer keeper330, may each be made of metal (e.g. steel), plastic, rubber, and thelike, and combinations thereof.

The load may rest on the lifter 120, which may have or include anoptional fastener 128. The optional fastener 128 support or connect theload transporting apparatus 100 to the load-carrying framework (notshown).

FIG. 2 is a top view of the load carrying apparatus 100, i.e. thevisible parts include a lifter 120, origin stabilizers 118, an originstabilizer coupler 119, a bull gear 102, a driven swing drive withoptional feedback 110, a swing drive holder 111, a foot 106, an optionalpad saver 107, an optional fastener 128, and the upper saddle housing122/130.

FIG. 3 is a front view of the load carrying apparatus 100 to furtherillustrate the piston rod 310, the interconnector 320, and the optionalretainer keeper 330. The piston rod 310 may be connected to a movementassembly 134. The movement assembly 134 may have a movement housing(shown in more detail in FIGS. 8 and 10). As the pinion drive gear(FIG. 1) rotates the bull gear 102, the piston rod 310 may acquire avertical movement. Such vertical movement by the piston rod may activatethe movement assembly 134 and thereby move the load in a direction bymovement of the load transporting apparatus 100.

FIG. 4 is a front view of another non-limiting embodiment of the loadtransporting apparatus 100.

FIG. 5A-5B depict non-limiting embodiments of the saddle housing 122. Anupper saddle housing 130, a lower saddle housing 132, and a side saddlehousing 133 are shown.

FIG. 6 is a non-limiting depiction of how the movement assembly 136 maybe attachable to the underside of the upper saddle housing 130.

FIG. 7 is a frontal view of a non-limiting embodiment of the saddlehousing 122 with the movement housing 136 attached thereto. The movementhousing 136 may include at least one low friction device 138 therein formoving the load transporting apparatus 100. In a non-limitingembodiment, the friction coefficient of the low friction device is aslow as possible. FIG. 7 depicts rollers 138 as a non-limiting example ofthe movement assembly 136; however, the movement assembly 136 may be anymechanism having a low coefficient of friction. In an alternativenon-limiting embodiment, FIGS. 8 and 9 depicts at least one pad 840 asnon-limiting examples of the low friction devices within the movementassembly.

FIG. 8 is an isometric view of a non-limiting embodiment of a movementhousing 136 placed within the saddle housing 122. The movement housing136 may be placed into the saddle housing 122 from any side; here, themovement housing 136 is depicted as sliding into the back side of thesaddle housing 122. The movement housing may be attachable to at leastone pad 840. The pad(s) 840 are depicted as being attachable to theunderside of the movement housing 136. In a non-limiting embodiment, thepad 840 may be plastic, rubber, a plastic or rubber composite, andcombinations thereof. The movement housing 136 may be or include a padshoe to anchor the pad(s) 840 to the saddle 122, but to also bear someof the force from the pad(s) 840. By including pad shoe(s), the lifetimeof the pad(s) 840 may be extended.

FIG. 9 is a front view of a non-limiting embodiment of a saddle housing122 where a movement housing 136 and pad(s) 840 are in place between thetop saddle housing 130 and the lower saddle housing 132. In anon-limiting embodiment, an optional pad retainer connection plate 144may be attachable to the underside of the top saddle housing 130. Theoptional pad retainer connection plate 144 may provide additionalanchoring of the movement housing 136 to the saddle housing 122.

FIG. 10A is an isometric view of the load transporting apparatus 100where the transverse cylinder 104 is in a retracted state, and thelifter 120 is in a retracted state.

FIG. 10B is an isometric view of the load transporting apparatus 100where the transverse cylinder 104 may be in an extended state. Inaddition, the lifter 120 is in an extended state, which exposes thepiston rod 310. When the load transporting apparatus 100 is in anextended state, the orbital plate 116 may be turned with the bull gear(i.e. geared ring) 102. The orbital plate 116 is disposed on top of therotary interlock. The bull gear 102 may turn the load transportingapparatus 100 in an amount of degrees ranging from almost 0 to 360degrees. A variety or plurality of diametric hole patterns may beemployed on the bull gear 102, so the bull gear 102 may align withrotational and/or locking requirements of the load transportingapparatus 100.

FIG. 10C is a side view of the load transporting apparatus 100 where thetransverse cylinder 104 is in a retracted state, but the lifter 120 isin an extended state.

FIG. 11 is an enlarged view of the lifter 120, and the piston 310. Theoptional fastener 128 is shown as a mounting flange. The optionalfastener 128 may be located at any location along the lifter 120,although it is shown at one end of the lifter here. The optionalfastener 120 may be round or rectangular in shape.

FIG. 12 is a flow diagram illustrating processes used to operate awalking apparatus according to embodiments of the invention. A flow 2400may begin with a first process 2405 where a lifter is activated to raisethe support foot. Flow 2400 then proceeds to process 2410 where adirection of travel is determined. The roller track is then rotated inprocess 2415 to align the roller assembly orientation with thedetermined direction of travel. The position of the roller track islocked in process 2420 and the foot is displaced in the direction oftravel in process 2425. The lifter is activated to lower the supportfoot and raise the load in process 2430. In process 2435 the travelmechanism is activated to displace the roller assembly along thedirection of travel. The lifter is activated in process 2440 to lowerthe load and raise the foot. It is then determined if the direction oftravel needs to be changed and/or whether the movement needs to bealtered for the next movement in process 2445. If the direction and/ormovement does not need to be changed, flow 2400 returns to process 2425where the foot is again displaced in the direction in travel.Alternatively, when it is determined that the direction of travel and/orthe type of movement does need to be changed in process 2445, flow 2400returns to process 2410 where the new direction of travel and/or type ofmovement is determined.

In a non-limiting embodiment, the one or more processes illustrated inFIG. 12 may be performed completely via a controller and/or in anon-manual manner using feedback sensing devices as discussed in moredetail with respect to FIG. 16. In yet another non-limiting embodiment,the entire process illustrated in FIG. 12 may be performed completelyvia a controller and/or in a non-manual manner, which has been difficultto obtain because of the sheer weight and size of the load beingtransported by the load transporting apparatuses described herein. Thecontroller may be or include a wired controller connectable to the loadtransporting apparatus, a wireless controller configured to wirelesslycommunicate with the load transporting apparatus, and combinationsthereof.

FIG. 13 is an illustration of a saddle housing 122 where a track 312 isnot included. Here, the lower saddle housing 132 couples the saddlehousing 122 to the foot 106.

FIG. 14 is a cut-away view of a rotary interlock 340 usable within theload transporting apparatus. The rotary interlock 340 may include two ormore members designed to rotate freely about each other in anunloaded/semi-loaded state. At least a first member 401 may interfacewith a second member 403 intended to rotate about the axis of the atleast one first member(s) 401. The rotation of the rotary interlock 340may occur above the saddle house 122 (not shown).

The first member 401 may be configured to interconnect with the lifterin a non-limiting embodiment. In an additional non-limiting embodiment,the crosshead plate (not shown) may be attachable to the first member401. The first member 401 may function as the datum of origin withinload transporting apparatus.

The second member 402 may be an interlocking ring in a non-limitingembodiment. An optional interlock interface 402 may be disposed withinthe second member 403 to connect the rotary interlock 340 to the saddlehouse 122. In the absence of the optional interlock interface 402, thesecond member 402 may be configured to interface with the saddle house122 instead. The combination of members may have bearing surfaces andcomponents with the intention of eliminating drag due to friction andmay contain surface and components configured to reduce wear on therotary interlock 340. The components of the rotary interlock 340 may beconfigured to interlock together to prohibit separation of thecomponents within the rotary interlock 340 during a suspended state,whether loaded or unloaded. The rotary interlock 340 may be configuredto freely rotate about the members to which it is coupled.Alternatively, the rotary interlock 340 may be configured to becoaxially fixed to one or more members.

The material of the members within the rotary interlock 340 may be orinclude, but is not limited to, metal (e.g. steel), plastic, ceramic,stone, and combinations thereof. The members may be of any shape capableof rotating freely about another member. A non-limiting example of theshape may be a ring.

In a non-limiting embodiment the piston rod 310 may connect with therotary interlock 340 with the interconnector 320. The rotary interlock340 may include a first interlocking component 401 connectable to asecond interlocking component 403. In a non-limiting embodiment, therotary interlock 340 includes a crosshead 404 between the firstinterlocking ring 401 and the second interlocking ring 403. A coupler402 may couple the saddle to the rotary interlock 340.

FIG. 15 is an illustration of a stabilizer frame apparatus configuredfor engaging a load transporting apparatus 100. In FIG. 15, the loadtransporting apparatus 100 is engaged with the stabilizer frameapparatus. Alternatively, the load transporting apparatus 100 may beattachable to the stabilizer frame apparatus by other means available tothose skilled in the art. In addition, the stabilizer frame apparatusmay be configured to integrate into a load structure (e.g. a rigstructure).

The stabilizer frame apparatus may have a first stabilizer bar 1510configured to connect to the load transporting apparatus 100. The firststabilizer bar 1510 may have a first end 1510 a and a second end 1510 b.The first end 1510 a may be configured to connect to a first sidewall1530. The second end 1510 b may be configured to connect to a secondsidewall 1540.

The stabilizer frame apparatus may have a second stabilizer bar 1520configured to connect to the load transporting apparatus 100. The secondstabilizer bar 1520 may have a first end 1520 a and a second end 1520 b.The first end 1520 a may be configured to connect to the first sidewall1530. The second end 1520 b may be configured to connect to the secondsidewall 1540.

The first and/or second sidewalls may be separate from a rig structureand configured to integrate into the rig structure in a non-limitingembodiment. Alternatively, the first 1530 and/or second sidewalls 1540may be part of the rig structure, and the first stabilizer bar 1510 andthe second stabilizer bar 1520 may be configured to connect thereto. Ina non-limiting embodiment, the stabilizer frame apparatus may includethe first sidewall 1530 and/or the second sidewall 1540.

In a non-limiting embodiment, the stabilizer frame apparatus may includeat least one origin stabilizer 118 configured to connect to at least oneof the first sidewall 1530 and/or the second sidewall 1540. In anon-limiting embodiment, the origin stabilizer(s) 118 may pivot from afixed location when connected to the first sidewall 1530 and/or thesecond sidewall 1540.

In another non-limiting embodiment, the first stabilizer bar 1510 and/orthe second stabilizer bar 1520 may have an optional stabilizer frameapparatus coupler 1550 for easier coupling of the stabilizer frameapparatus to the load transporting apparatus 100. When the stabilizerframe apparatus coupler 1550 is not used, the first stabilizer bar 1510and/or the second stabilizer bar 1520 may engage or connect or attach tothe load transporting apparatus 100 by gluing, welding, or another formof coupling the stabilizer frame apparatus to the load transportingapparatus 100.

In yet another non-limiting embodiment, at least one additional crossbar(not shown) may be configured to connect to the first sidewall 1530and/or the second sidewall 1540 for additional stability of the loadand/or load transporting apparatus.

FIG. 16 is an illustration of a load transporting apparatus 100configured to move in at least one direction in a controlled manner. Theload transporting apparatus 100 may include at least one feedbacksensing device 1604 disposed on or within the load transportingapparatus 100 where the feedback sensing device(s) 1604 is configured toobtain at least one movement measurement of the load transportingapparatus 100 on/in which the feedback sensing device 1604 is disposedduring movement of the load transporting apparatus 100. The movement maybe or include a vertical movement, a lateral movement, a rotationalmovement, and combinations thereof.

A controller 1616 receives a pre-determined movement input and acommunication 1608 from a feedback sensing device 1604 where thecommunication 1608 includes at least one movement measurement. Thecontroller 1616 further includes a processing circuit (see FIG. 17)configured to compare the movement measurement(s) from the feedbacksensing device(s) 1604 to the pre-determined input corresponding to eachfeedback sensing device. The processing circuit is configured to outputa communication 1618 to the load transporting apparatus where thecommunication 1618 relays an altered movement to the load transportingapparatus when a comparison of the movement measurement(s) to thepre-determined input is substantially equal. In a non-limitingembodiment, at least one altered movement is inputted at the same timeas the pre-determined input(s). Alternatively, the processing circuitmay determine an altered movement to correlate with the feedback fromeach feedback sensing device 1604.

In a non-limiting embodiment, each load transporting apparatus 100 mayhave one or more feedback sensing devices 1604. In another non-limitingembodiment, the controller 1616 has a pre-determined movement input tocorrespond with each feedback sensing device 1604. In yet anothernon-limiting embodiment, one or more feedback sensing devices 1604 maybe disposed on at least two or more load transporting apparatuses 100,or at least four or more load transporting apparatuses 100 in yetanother non-limiting example.

The movement of a particular load transporting apparatus may be alteredand/or stopped when at least one movement measurement from a feedbacksensing device 1604 is substantially equal to the pre-determined inputcorrelating to the particular feedback sensing device 1604. A movementmay be altered by at least one of moving the load transporting apparatusat a faster rate or a slower rate, altering the height of a load,altering a lateral position of a load, altering a rotational position ofa load, and combinations thereof.

The feedback sensing device 1604 may be or include at least one of alinear encoder, a linear transducer, a string potentiometer, a proximitysensor, a pressure transducer, a rotary encoder, and combinationsthereof. Thus, the movement measurement(s) obtained by a feedbacksensing device 1604 may be at least one of a pressure measurement, aheight measurement, a lateral distance measurement, a rotationalmeasurement, and combinations thereof. The pre-determined input may beor include at least one of a pressure input, a height input, a lateralposition input, a rotational position input, and combinations thereof.

The feedback sensing device 1604 is depicted as being located at aspecific point within the lifter 120. However, the actual location ofthe feedback sensing device 1604 depends on the type of the movementsensing device. For example, a linear sensing device may be or include alinear encoder, a linear transducer, a string potentiometer, a proximitysensor, and combinations thereof in a non-limiting embodiment. Thelinear sensing device may be disposed on and/or inside a transversecylinder 104, between the saddle housing 122 and the roller assembly136/138, between a foot 106 and a track of a movement assembly 134, andcombinations thereof in a non-limiting embodiment. In a non-limitingembodiment, a lateral position sensing device may determine a lateralposition of a foot 106 of a first load transporting apparatus to compareit to a lateral position of a foot of a second load transportingapparatus. Such measurements may be compared to determine whether themovement of one or both of the first or second load transportingapparatus should be altered.

A height or vertical sensing device may be disposed on or in a liftcylinder 120, between a lift cylinder 120 and a saddle housing 122,between a stabilizer frame apparatus and a foot 106, between astabilizer frame apparatus and a saddle housing 122, and combinationsthereof in a non-limiting embodiment. In a non-limiting embodiment, aheight positioning sensing device may obtain a height measurement ofeach foot 106 of the load transporting apparatus 100 and communicatesuch measurements to the processing circuit 1616. If the height of afirst foot of a first load transporting apparatus is different from theheight of a second foot of a second load transporting apparatus, theprocessing circuit may communicate with one or more load transportingapparatuses to alter the movement of the foot or another component ofthe load transporting apparatus to ensure the load is level when moved.

In yet another non-limiting embodiment, a pressure sensing device mayinclude a pressure transducer. The pressure transducer may be disposedon or in a lift cylinder 120, in line with a hydraulic line 1612 or 1614at a point of entry into a lift cylinder 120, and combinations thereof.The pressure sensing device will be discussed in more detail below.

Similarly, in a non-limiting embodiment, a rotational position sensingdevice may determine whether a movement of a foot of a load transportingapparatus may be altered based on a rotational positioning measurementof the foot. A non-limiting example of a rotational position sensingdevice may be or include a rotary encoder, a string potentiometer, aproximity sensor, a proximity switch, and combinations thereof. Therotational position sensing device may be disposed and driven by apinion drive gear 108, disposed and driven by a bull gear 102, wrappedaround an axis of rotation with respect to a pinion gear 108, wrappedaround an axis of rotation with respect to a bull gear 102, or wrappedaround an axis of rotation with respect to a foot 106, and combinationsthereof in a non-limiting embodiment.

The processing circuit may receive a pre-determined input for eachfeedback sensing device. Depending on the particular feedback sensingdevice, the pre-determined input may be or include at least one of apressure input, a height input, a lateral position input, a rotaryposition input, and combinations thereof.

In another non-limiting embodiment, the processing circuit wirelesslycommunicates with the load transporting apparatus(es). Alternatively,the processing circuit communicates with the load transportingapparatus(es) in a wired manner. Non-limiting examples of wirelesscommunication may be or include, but are not limited to short rangecommunication (e.g. Bluetooth, a radio frequency identification tag,etc.) Alternatively, the wireless communication may be or include aninternet connection to the controller to allow a user to access orcontrol at least one load transporting apparatus from a distance, e.g.via a smartphone, a personal computer, etc. In yet another non-limitingembodiment, the processing circuit 1616 may communicate with aelectro-hydraulic solenoid 1606, which is further configured tocommunicate with a hydraulic valve controller 1602. Alternatively, theelectrohydraulic solenoid 1606 may be disposed in a controller with theprocessing circuit 1616, and the controller may be attached orunattached to the hydraulic valve controller 1602.

The hydraulic valve controller 1602 controls the hydraulic fluidentering and exiting the lifter 120 via a first hydraulic line 1612 anda second hydraulic line 1614. Only two hydraulic lines are depicted inFIG. 16; however, as many hydraulic lines may be used according to thedesires of one skilled in the art. Similarly, one or more hydrauliclines may be fed into and/or out of the transverse cylinders, althoughthis is not depicted in FIG. 16.

In yet another non-limiting system, at least one load transportingapparatus 100 may be specially prepared for movement by depressing atleast one component (e.g. a foot, a pad saver, and combinations thereof)of the load transporting apparatus into a base surface 1610 prior tolifting a load 1615. During the depression of the component(s) into thebase surface 1610, at least one pressure feedback sensing device isdisposed on and/or within the load transporting apparatus to obtain atleast one movement measurement of the at least one load transportingapparatus during the depression movement.

The controller in this instance may receive a pre-determined pressureinput at a first location for each pressure feedback sensing device. Thecontroller may further receive at least one pressure measurement fromthe pressure feedback sensing device. A processing circuit within thecontroller may compare the pressure measurement(s) to the pre-determinedpressure input. When at least one pressure measurement is substantiallyequal to the pre-determined pressure input, the processing circuitoutputs a signal to the load transporting apparatus to stop depressingthe component(s) into the base surface 1610. In a non-limitingembodiment, “substantially equal” may range from plus or minus tenpercent around the pre-determined input number.

Once the component(s) is stopped from being depressed into the basesurface 1610, a contact set-point is achieved, and the same method ofdepressing a component of each load transporting apparatus may occur towhere each load transporting apparatus achieves the same or a differentcontact set-point depending on the base surface 1610 under each loadtransporting apparatus. For example, a first pressure measurement may beobtained for a first load transporting apparatus may be substantiallyequal to the pre-determined input for the pressure sensing device soonerif the first load transporting apparatus is disposed on a more stablesurface compared to a second load transporting apparatus disposed on aless stable surface. Said differently, a first load transportingapparatus may have a different contact set-point as compared to a secondload transporting apparatus depending on the stability of the basesurface 1610.

Once the contact set-point is obtained for each load transportingapparatus, the processing circuit may communicate with each loadtransporting apparatus to lift a load 1615 a pre-determined distanceabove the contact set-point. Such a pre-determined distance may be inputmanually by a user, or the pre-determined distance may be determined bythe processing circuit.

Preparing each load transporting apparatus by depressing at least onecomponent thereof into a base surface 1610 allows each load transportingapparatus to obtain a more stable positioning within or on the basesurface 1610. Said differently, the base surface 1610 underneath eachload transporting apparatus may be sufficiently compacted to apre-determined amount to prevent the load transporting apparatus fromsinking into the base surface 1610 during a lifting movement of a loaddisposed thereon. Relying on pressure sensing devices for preparing aload prior to lifting the load allows for accurate and reliablemeasurements, as well as continuous monitoring of the pressuremeasurements during the depression of the component(s) into the basesurface 1610.

Depressing the component(s) of the load transporting apparatus into thebase surface 1610 distributes an approximate force of the load disposedon the load transporting apparatus upon the base surface 1610 in orderto create compaction within the elements of the base surface 1610.

FIG. 17 depicts how a processing circuit 1706 receives thepre-determined input 1702 and the movement measurement(s) 1712. Thepre-determined input 1702 may be received at a first location 1704 to becompared by a processing circuit 1706 to at least one movementmeasurement 1712 received at a second location 1710. When a receivedmovement measurement(s) 1712 is substantially equal to thepre-determined input 1702 for particular feedback sensing device, theprocessing circuit 1706 outputs a communication 1708 to alter and/orstop movement of the load transporting apparatus.

In a non-limiting embodiment, at least one of the components 1702, 1704,1710, and 1712 is disposed within the processing circuit 1706. Inanother non-limiting, all of the components 1702, 1704, 1710, and 1712are disposed within the processing circuit 1706. At least the processingcircuit 1706 is disposed within the controller 1616; however, one ormore of the components 1702, 1704, 1706, 1708, 1710, and 1712 may bedisposed within the controller 1706.

In yet another non-limiting embodiment, the first location 1704 and/orthe second location 1710 may be or include a buffer and/or a memoryaccessible by the processing circuit 1706. A buffer and/or a memorywould allow storage of the pre-determined input and/or at least onemovement measurement.

FIG. 18 depicts a non-transitory computer readable medium withinstructions stored thereon, that when executed by a processing circuit,perform a method. The method may include obtaining a pre-determinedinput 1802, receiving the pre-determined input in a first location 1804,obtaining at least one movement measurement of at least one loadtransporting apparatus during movement of the load transportingapparatus 1806, receiving the at least one movement measurement in asecond location 1808, and comparing the at least one movementmeasurement to the pre-determined input and communicating with the atleast one load transporting apparatus to alter and/or stop movement ofthe at least one load transporting apparatus when a comparison of the atleast one movement measurement to the pre-determined input issubstantially equal 1810.

As used herein, a “circuit”, which may be understood as any kind of alogic implementing entity, which may be special purpose circuitry or aprocessor executing software stored in a memory, firmware, or anycombination thereof. Furthermore, a “circuit” may be a hard-wired logiccircuit or a programmable logic circuit such as a programmableprocessor, for example a microprocessor (for example a ComplexInstruction Set Computer (CISC) processor or a Reduced Instruction SetComputer (RISC) processor). A “circuit” may also be a processorexecuting software, for example any kind of computer program, forexample a computer program using a virtual machine code, such as forexample Java. Any other kind of implementation of the respectivefunctions may also be understood as a “circuit”. It may also beunderstood that any two (or more) of the described circuits may becombined into one circuit.

What is claimed is:
 1. A system for moving load transporting apparatusescomprising: a plurality of load transporting apparatuses each configuredto move-in at least one direction; at least one feedback sensing devicedisposed on and/or within each of the load transporting apparatuses;wherein each feedback sensing device is configured to obtain at leastone movement measurement of the associated transporting apparatus duringmovement of the associated transporting apparatus; and a controllerconfigured to receive signals representative of the movementmeasurements and to adjust a rate of movement of at least one of theload transporting apparatuses to ensure the load is level.
 2. The systemof claim 1, wherein at least one of the movement measurements is one ofa pressure measurement, a height measurement, a lateral distancemeasurement, a rotational measurement, and combinations thereof.
 3. Thesystem of claim 1, wherein each of the load apparatuses comprises: atleast one lifter configured to connect between a movement assembly and aload bearing frame; wherein the lifter is configured to lift a load awayfrom a base surface.
 4. The system of claim 1, further comprising a loaddisposed on or over the load transporting apparatuses.
 5. The system ofclaim 4, wherein the load is a rig.
 6. The system of claim 1, whereinthe controller wirelessly communicates with the load transportingapparatuses.
 7. The system of claim 1, wherein the controller is furtherconfigured to wirelessly communicate with the load transportingapparatuses to lift a load a pre-determined vertical distance.
 8. Asystem for moving a load, comprising: a plurality of load transportingapparatuses each comprising at least one vertical movement cylinder andat least one lateral movement cylinder, the plurality of loadtransporting apparatuses configured to cooperatively lift the loadvertically from a surface and to move the lifted load laterally in apredetermined direction; at least one vertical movement sensing deviceassociated with each load transporting apparatus, each vertical movementsensing device configured to generate signals representative of verticalmovement of the load; at least one lateral movement sensing deviceassociated with each load transporting apparatus, each lateral movementsensing device configured to generate signals representative of lateralmovement of the load; and a controller configured to receive movementsignals from the load transporting apparatuses, and configured generateone or more vertical movement cylinder signals to cause one or more ofthe plurality of vertical movement cylinders to alter its movement toensure that the load is level.
 9. The system of claim 8, wherein thecontroller and each load transporting apparatus are configured forwireless communication there between.
 10. The system of claim 8, whereinthe controller is configured to receive a predetermined lift heightmeasurement, and configured to compare vertical movement signals fromthe load transporting apparatuses to the predetermined lift heightmeasurement, and to stop vertical movement when the predetermined liftheight measurement is reached.
 11. The system of claim 8, wherein eachload transporting apparatus further comprises a lateral movementassembly disposed between the vertical movement cylinder and thesurface, and configured so that the at least one lateral movementcylinder can move the load a distance along the predetermined directionafter the load has been lifted above the surface.
 12. The system ofclaim 11, wherein the controller is configured to laterally move theload in the predetermined direction a distance defined by thepredetermined direction.
 13. The system of claim 11, wherein thecontroller is configured to lower the load to the surface after the loadhas moved the predetermined lateral distance.
 14. The system of claim13, wherein the controller is configured to generate one or morevertical movement cylinder signals to cause one or more of the pluralityof vertical movement cylinders to alter its movement to ensure that theload is level while lowering to the surface.
 15. The system of claim 8,further comprising a pressure sensor associated with each verticalmovement cylinder and configured to generate signals representative ofcylinder pressure.
 16. The system of claim 15, wherein the controller isconfigured to determine a pre-load set point for each load transportingapparatus based on a comparison between a predetermined pre-loadpressure, a cylinder pressure signal, and a vertical movement signal.17. The system of claim 16, wherein the pre-load set point for a firstload transporting apparatus is different than the pre-load set point foranother load transporting apparatus.
 18. The system of claim 15, whereinthe controller is configured to energize the vertical movement cylindersto lift the load a pre-determined distance off of the surface after thepre-load set points have been determined.
 19. The system of claim 15,wherein the controller is configured to alter the rate of movement whiledetermining the pre-load set points.
 20. The system of claim 19, whereinthe predetermined pressure is insufficient to lift the load from thesurface.
 21. The system of claim 19, wherein the predetermined pressureis sufficient to begin lifting the load from the surface.